package edu.wpi.first.wpilibj.positioning;

/**
 * A Pathfinder constructs a path for the robot, or mechanism
 * given a location and the time.
 * @author Dylan Frese
 */
public interface Pathfinder {
    
    /**
     * Get the path for the mechanism given the position and time. 
     * @param where Where the mechanism is, stored as a {@link PositionHandler}
     * @param time The current time, in milliseconds, of course.
     * @return the path that the mechanism should follow.
     */
    public Path getPath (PositionHandler where, long time);
    
}
